Switch-gear or control-gear system with unmanned operation and maintenance, and method of operating the same

ABSTRACT

A switch-gear or control-gear system, in particular a low voltage switch-gear or control-gear system is configured for unmanned operation and maintenance. The switch-gear or control-gear system is configured for unmanned operation and maintenance with a robotic system or manipulator and wherein the robotic system or manipulator comprises a camera system and an image recognition system. The robotic system is provided with a data network or an external data communication interface. The camera is configured to correspond with an image recognition system and to evaluate actual images with adaptive image data, in order to be able to locate and to analyse physical reasons for faults or deterioration of components that might lead to faults.

CROSS-REFERENCE TO PRIOR APPLICATIONS

This application is a continuation of International Patent Application No. PCT/EP2018/067481, filed on Jun. 28, 2018, which claims priority to European Patent Application Nos. EP 17178336.8, filed on Jun. 28, 2017 and EP 17209473.2, filed on Dec. 21, 2017. The entire disclosures of the prior applications is hereby incorporated by reference herein.

FIELD

The present invention relates to a switch-gear or control-gear, in particular a low voltage switch-gear or control-gear, with unmanned operation and maintenance.

BACKGROUND

Existing switch-gears or control-gears are often provided with sensors, in order to have control elements and sensors, connected via local data networks or via browsers, for technical diagnostic and steering functions and or maintenance by that.

The scope of the inspection in switch-gear or control-gear with unmanned operation can be enhanced compared to the scope that is typically done by fixed sensors or manually on de-energized switch-gear or control-gear today. By enhancing the inspection scope periodic shutdown and testing of the switch-gear or control-gear and its components can be avoided.

Systems like that can often only send sensor data for technical diagnosis, but maintenance of actual technical problems cannot be performed.

SUMMARY

In an embodiment, the present invention provides a switch-gear or control-gear system, in particular a low voltage switch-gear or control-gear system configured for unmanned operation and maintenance. The switch-gear or control-gear system is configured for unmanned operation and maintenance with a robotic system or manipulator and wherein the robotic system or manipulator comprises a camera system and an image recognition system.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present invention will be described in even greater detail below based on the exemplary figures. The present invention is not limited to the exemplary embodiments. All features described and/or illustrated herein can be used alone or combined in different combinations in embodiments of the present invention. The features and advantages of various embodiments of the present invention will become apparent by reading the following detailed description with reference to the attached drawings which illustrate the following:

FIG. 1 is an example crossection of switch-gear or control-gear with unmanned operation and maintenance, according to an embodiment; and

FIG. 2 is an example crossection of low voltage switch-gear or control-gear with unmanned operation and maintenance, according to an embodiment.

DETAILED DESCRIPTION

An object of an embodiment is to enhance such switch-gear or control-gear systems, as well as the method for operating the same as such, that a more detailed sensoring of technical faults is given, so that faults or deterioration of components that might lead to faults, and malfunctions can be located much more detailed and quickly, and at least first steps, over solving technical problems can be initiated automatically.

Considering that, a switch-gear or control-gear, in particular a low voltage switch-gear or control-gear, with unmanned operation and maintenance excludes human operators from operation and maintenance processes of the switch-gear or control-gear as we know them today.

Referring to a switch-gear or control-gear system, an embodiment of the invention is, that the switch-gear or control-gear system, in particular the low voltage switch-gear or control-gear system is provided for unmanned operation and maintenance with a robotic system or manipulator, and that the robotic system or manipulator is provided with a camera system, and an image recognition system.

By adding a robotic system to inner space of the switch-gear or control-gear, a new system serving the operation and maintenance functions of the switch-gear or control-gear was introduced. The robotic system and design of the switch-gear or control-gear internal space without segregations offers an opportunity to collect much richer static and dynamic visual data about the primary and auxiliary circuits and mechanisms condition compared to the known systems.

Collected rich visual data allow the application of automatized image processing and analysis with the target to learn the conditions of the switch-gear or control-gear systems and components.

Furthermore, by the use of an embodiment of the invention, the switch-gear or control-gear systems can react in cases of faults much quicker, and more effectively.

A further advantageous embodiment is that the robot system is provided with a data network or an external data communication interface.

In a further advantageous embodiment, the camera has means for corresponding with a image recognition system, and to evaluate actual images with adaptive image data, in order to be able to locate and to analyse physical reasons for faults, or deterioration of components, that might lead to faults.

In a further advantageous embodiment, the camera is provided with a video mode, by which the functional surveillance can be taken by slow motion video sequences.

In a further embodiment the robotic system or manipulator is provided with a tool changing system, which may be used to change/switch between various tools for maintenance and service activities, in particular for detaching or attaching and/or exchanging switch-gear or control-gear components, for example withdrawable modules and/or module components, connectors and the like, in an automated way.

Exemplary tools may be for example a gripper and/or screwdriver.

Furthermore, a tool storage may be provided to store and provide the various tools for the tool changing system of the robotic system or manipulator.

Concerning to a method for operating such a switch-gearoder control-gear, an embodiment of the invention provides, that the switch-gear or control-gear system, in particular the low voltage switch-gear or control-gear system is provided for unmanned operation and maintenance with a robotic system or manipulator, which is steered and/or controlled at least partly by a software system, and that the robotic system or manipulator is provided with a camera system, and an image recognition system, which is corresponding for technical diagnosis.

In a further embodiment, the voltage switch-gear or control-gear system comprises an external housing and is provided for unmanned operation and maintenance with a robotic system or manipulator, wherein the robotic system or manipulator is provided with a camera and an image recognition system, which is corresponding for technical diagnosis.

Furthermore, the robotic system or manipulator may be steered and/or controlled at least partly by a housing internal and/or a housing external software system.

In a further advantageous embodiment of the invention, the robot system is provided with a data network or external data communication interface, and that in case of detection of technical problems or malfunctions, referring messages are generated automatically and sent to an authorized external observation system.

Further advantageous is an embodiment, in which the camera is provided with means for corresponding with an image recognition system, and to evaluate actual images with adaptive image data, in order to be able to locate and to analyse physical reasons for faults or deterioration of components that might lead to faults.

In another advantageous embodiment, the camera is provided with a video mode, by which the functional surveillance can be taken by slow motion video sequences, and analysed automatically with regular expected function sequences by comparison of slow motion video sequences from a adaptive data field, which show the expected regular function.

An advantageous embodiment of the invention is shown in FIG. 1.

This disclosure describes an enhanced scope of robotized inspection of the switch-gear or control-gear with unmanned operation and maintenance.

In the depicted embodiment of FIG. 1, the robotic system 21 tooling includes in this embodiment sensors for visual inspection and thermographic inspection for the enhanced inspection of energized switch-gear or control-gear. As the robotic manipulator 29 and wrist 30 is allowed to approach de-energized circuits only, all these sensors can be non-contact type. The robotic arm and wrist can position the sensors to best shot positions without advanced pan, tilt, zoom functions on the sensors itself.

The visual inspection sensor in this embodiment is be capable of taking high resolution picture as well as slow-motion video sequence recording. The data from visual inspection sensor and subsequent automatic image analysis algorithms can be used for following inspection tasks:

-   -   Detecting grime, corrosion, moisture on the primary circuits         from high resolution static images.     -   Detecting traces of discharges or ruptures on the insulation         surfaces from high resolution static images.     -   Detecting irregularities in movement of auxiliary mechanism         during operation by slow-motion video sequence analysis.     -   Detecting irregularities in movement of switching device moving         contact by slow-motion video sequence analysis.

The sensors for thermographic inspection can be capable of taking high resolution thermographic pictures of high emissivity surfaces. The primary circuits inside the switch-gear or control-gear can be preferably covered with thin high emissivity material wherever possible to allow accurate thermographic measurements.

The data from thermographic inspection sensor and subsequent automatic image analysis algorithms can be used for following inspection tasks:

-   -   Detecting hot spots on primary circuits from static         thermographic images     -   Detecting spots hotter than maximum allowed temperature on the         primary circuits from static thermographic images     -   Detecting hot spots on the auxiliary circuits from static         thermography images     -   Detecting points of high friction on the auxiliary mechanisms         from static thermography images

In FIG. 2 a further embodiment of the invention is disclosed referring to a low voltage switch-gear system with unmanned operation and maintenance.

The low voltage switch-gear system comprises at least one switch-gear 40 with a mounting frame 44 and several withdrawable modules 42.

The robotic system 21 tooling includes in this embodiment sensors for visual inspection and thermographic inspection for the enhanced inspection of energized low voltage switch-gear or control-gear. As the robotic manipulator 29 and wrist 30 is allowed to approach de-energized circuits only, all these sensors can be non-contact type. The robotic arm and wrist can position the sensors to best shot positions without advanced pan, tilt, zoom functions on the sensors itself.

The visual inspection sensor in this embodiment is be capable of taking high resolution picture as well as slow-motion video sequence recording. The data from visual inspection sensor and subsequent automatic image analysis algorithms can be used for following inspection tasks:

-   -   Detecting grime, corrosion, moisture on the primary circuits         from high resolution static images     -   Detecting traces of discharges or ruptures on the insulation         surfaces from high resolution static images     -   Detecting irregularities in movement of auxiliary mechanism         during operation by slow-motion video sequence analysis     -   Detecting irregularities in movement of switching device moving         contact by slow-motion video sequence analysis

The sensors for thermographic inspection can be capable of taking high resolution thermographic pictures of high emissivity surfaces. The primary circuits inside the switch-gear or control-gear can be preferably covered with thin high emissivity material wherever possible to allow accurate thermographic measurements.

The data from thermographic inspection sensor and subsequent automatic image analysis algorithms can be used for following inspection tasks:

-   -   Detecting hot spots on primary circuits from static         thermographic images     -   Detecting spots hotter than maximum allowed temperature on the         primary circuits from static thermographic images     -   Detecting hot spots on the auxiliary circuits from static         thermography images     -   Detecting points of high friction on the auxiliary mechanisms         from static thermography images

The robotic system or manipulator is provided with a tool changing system, which may be used to change/switch between various tools for maintenance and service activities, in particular for detaching or attaching and/or exchanging switch-gear or control-gear components, like for example withdrawable modules and/or module components, connectors and the like, in an automated manner.

While embodiments of the invention have been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. It will be understood that changes and modifications may be made by those of ordinary skill within the scope of the following claims. In particular, the present invention covers further embodiments with any combination of features from different embodiments described above and below. Additionally, statements made herein characterizing the invention refer to an embodiment of the invention and not necessarily all embodiments.

The terms used in the claims should be construed to have the broadest reasonable interpretation consistent with the foregoing description. For example, the use of the article “a” or “the” in introducing an element should not be interpreted as being exclusive of a plurality of elements. Likewise, the recitation of “or” should be interpreted as being inclusive, such that the recitation of “A or B” is not exclusive of “A and B,” unless it is clear from the context or the foregoing description that only one of A and B is intended. Further, the recitation of “at least one of A, B and C” should be interpreted as one or more of a group of elements consisting of A, B and C, and should not be interpreted as requiring at least one of each of the listed elements A, B and C, regardless of whether A, B and C are related as categories or otherwise. Moreover, the recitation of “A, B and/or C” or “at least one of A, B or C” should be interpreted as including any singular entity from the listed elements, e.g., A, any subset from the listed elements, e.g., A and B, or the entire list of elements A, B and C. 

What is claimed is:
 1. A switch-gear or control-gear system, in particular a low voltage switch-gear or control-gear system configured for unmanned operation and maintenance, wherein the switch-gear or control-gear system is configured for unmanned operation and maintenance with a robotic system or manipulator and wherein the robotic system or manipulator comprises a camera system and an image recognition system.
 2. The switch-gear or control-gear system according to claim 1, wherein the robot system is provided with a data network or an external data communication interface.
 3. The switch-gear or control-gear system according to claim 1, wherein the camera is configured to correspond with an image recognition system and to evaluate actual images with adaptive image data, in order to be able to locate and to analyse physical reasons for faults or deterioration of components that might lead to faults.
 4. The switch-gear or control-gear system according to claim 1, wherein the camera is configured with a video mode, by which the functional surveillance can be taken by slow motion video sequences.
 5. The switch-gear or control-gear system according to claim 1 comprising an external housing containing the switch-gear or control-gear system.
 6. A method for operating a switch-gear or control-gear system, in particular a low voltage switch-gear or control-gear system configured for unmanned operation and maintenance, wherein the switch-gear or control-gear system is configured for unmanned operation and maintenance with a robotic system or manipulator which is steered at least partly by a software system, and wherein the robotic system or manipulator comprises a camera system and an image recognition system, which is used for technical diagnosis.
 7. The method according to claim 6, wherein the robot system is provided with a data network or external data communication interface, and that in case of detection of technical problems or malfunctions, referring messages are generated automatically and send to an authorized external observation system.
 8. The method according to claim 6, wherein the camera is provided configured to correspond with an image recognition system and to evaluate actual images with adaptive image data in order to be able to locate and to analyse physical reasons for faults.
 9. The method according to claim 6, wherein the camera is provided with a video mode, by which the functional surveillance can be taken by slow motion video sequences and analysed automatically with regular expected function sequences by comparison of slow motion video sequences from a adaptive data field, which show the expected regular function.
 10. The method according to claim 6, wherein an external housing contains the switch-gear or control-gear system. 